抗饱和数字控制器时延对闭环系统性能的影响  

Influence of time delay of anti⁃saturation digital controller on performance of closed⁃loop system

作　　者：许乐 赵文龙[1] 蒋沅[1] XU Le;ZHAO Wenlong;JIANG Yuan(School of Information Engineering,Nanchang Hangkong University,Nanchang 330063,China)

机构地区：[1]南昌航空大学信息工程学院,江西南昌330063

出　　处：《现代电子技术》2022年第9期111-115,共5页Modern Electronics Technique

基　　金：国家自然科学基金资助项目(61663030)。

摘　　要：为了研究真实的数字控制器中控制量时延对闭环系统性能的影响,首先采用积分分离和不完全微分PID控制的方法,消除控制量饱和对闭环系统性能的影响;其次,在Simulink中建立以被控对象为双惯性环节的闭环控制系统模型,进行抗饱和PID实验仿真,得到阶跃响应曲线,并计算出理论控制系统的性能指标;再次,在相同被控对象的真实闭环控制系统中,用不同速度的单片机以及工控机IPC⁃610进行抗饱和PID控制实验,得到了几种真实的数字控制器的控制量时延值和阶跃响应曲线,从阶跃响应曲线中计算出每种真实数字控制器的动态性能指标、静态性能指标以及其他性能指标,将这几种真实的数字控制器的系统性能指标与理论系统性能指标进行比较,得到控制量时延值越小其系统性能指标就越接近理论系统性能指标的结果;最后,得出控制量时延的存在会使闭环系统性能变差以及控制量时延值越大对闭环系统性能影响就越大的结论。To study the influence of control delay on the performance of closed⁃loop system in real digital controller,the integral separation and incomplete differential PID control methods are adopted to eliminate the influence of control saturation on the performance of closed⁃loop system.The closed⁃loop control system model taking the controlled object as the double⁃inertia link is established in Simulink to carry out the anti⁃saturation PID experimental simulation,so as to obtain the step response curve.According to the step response curve,the performance index of the theoretical control system is calculated.In the real closed⁃loop control system for the same controlled object,the anti⁃saturation PID control experiments were carried out by the SCM with different speeds and the IPC⁃610,and the control delay values and step response curves of several real digital controllers were obtained.The dynamic performance index,static performance index and other performance indexes of each real digital controller were figured out with the step response curve.By contrasting the system performance indexes of these real digital controllers with the theoretical system performance indexes,it is concluded that the smaller the control delay value is,the closer the system performance indexes are to the theoretical system performance indexes.Finally,it is concluded that the existence of control delay will make the performance of closed⁃loop system worse,and the larger the control delay is,the greater the influence on the performance of closed⁃loop system becomes.

关 键 词：闭环控制系统 控制量饱和 控制量时延 数字控制器 PID控制 抗饱和 阶跃响应曲线 

分 类 号：TN876-34[电子电信—信息与通信工程] TP2[自动化与计算机技术—检测技术与自动化装置]